ACHIRES, “Actively Coordinated High-speed Image-processing Running Experiment System”, is a bipedal running system consists of high-power bipedal robot and high-speed vision. The high-speed vision recognizes the posture of the running robot at 600 fps, which realizes the posture control in response to the real-time changes in situation without prediction.
In previous version of ACHIRES, the posture information was used only when both legs were off the ground and the control was open-loop otherwise. In this version, we improved the control method to implement visual feedback to whole process of running.
In the movie, ACHIRES was given a human-like forward-bent trajectory as a reference to achieve fast running. Such running gait that includes dynamically unstable area was difficult in widely-used ZMP-based control because of its stability-oriented approach. This improved ACHIRES can recover its balance instantly with high-speed visual feedback and run reliably within dynamically unstable area.
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